/usr/include/sofa/component/collision/DiscreteIntersection.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_COLLISION_DISCRETEINTERSECTION_H
#define SOFA_COMPONENT_COLLISION_DISCRETEINTERSECTION_H
#include <sofa/core/componentmodel/collision/Intersection.h>
#include <sofa/helper/FnDispatcher.h>
#include <sofa/component/collision/SphereModel.h>
#include <sofa/component/collision/PointModel.h>
#include <sofa/component/collision/LineModel.h>
#include <sofa/component/collision/TriangleModel.h>
#include <sofa/component/collision/CubeModel.h>
#include <sofa/component/collision/RayModel.h>
#include <sofa/component/collision/SphereTreeModel.h>
#include <sofa/component/collision/DistanceGridCollisionModel.h>
#include <sofa/component/collision/TetrahedronModel.h>
namespace sofa
{
namespace component
{
namespace collision
{
class SOFA_COMPONENT_COLLISION_API DiscreteIntersection : public core::componentmodel::collision::Intersection
{
public:
DiscreteIntersection();
/// Return the intersector class handling the given pair of collision models, or NULL if not supported.
/// @param swapModel output value set to true if the collision models must be swapped before calling the intersector.
virtual core::componentmodel::collision::ElementIntersector* findIntersector(core::CollisionModel* object1, core::CollisionModel* object2, bool& swapModels);
protected:
core::componentmodel::collision::IntersectorMap intersectors;
public:
template<class Model1, class Model2>
sofa::core::componentmodel::collision::TDetectionOutputVector<Model1,Model2>* createOutputVector(Model1*, Model2*)
{
return new sofa::core::componentmodel::collision::TDetectionOutputVector<Model1,Model2>;
}
template<class Model1, class Model2>
sofa::core::componentmodel::collision::TDetectionOutputVector<Model1,Model2>* getOutputVector(Model1*, Model2*, sofa::core::componentmodel::collision::DetectionOutputVector* contacts)
{
return static_cast<sofa::core::componentmodel::collision::TDetectionOutputVector<Model1,Model2>*>(contacts);
}
typedef sofa::helper::vector<sofa::core::componentmodel::collision::DetectionOutput> OutputVector;
int beginIntersection(sofa::core::CollisionModel* /*model1*/, sofa::core::CollisionModel* /*model2*/, OutputVector* /*contacts*/)
{
return 0;
}
int endIntersection(sofa::core::CollisionModel* /*model1*/, sofa::core::CollisionModel* /*model2*/, OutputVector* /*contacts*/)
{
return 0;
}
bool testIntersection(Cube&, Cube&);
template<class Sphere>
bool testIntersection(Sphere&, Sphere&);
template<class Sphere>
bool testIntersection(Sphere&, Cube&);
template<class Sphere>
bool testIntersection(Ray&, Sphere&);
template<class Sphere>
bool testIntersection(Sphere&, Triangle&);
//bool testIntersection(Triangle&, Triangle&);
bool testIntersection(Triangle&, Line&);
bool testIntersection(Ray&, Triangle&);
bool testIntersection(Ray&, Tetrahedron&);
bool testIntersection(Tetrahedron&, Point&);
bool testIntersection(RigidDistanceGridCollisionElement&, RigidDistanceGridCollisionElement&);
bool testIntersection(RigidDistanceGridCollisionElement&, Point&);
template<class Sphere>
bool testIntersection(RigidDistanceGridCollisionElement&, Sphere&);
bool testIntersection(RigidDistanceGridCollisionElement&, Triangle&);
bool testIntersection(Ray&, RigidDistanceGridCollisionElement&);
bool testIntersection(FFDDistanceGridCollisionElement&, RigidDistanceGridCollisionElement&);
bool testIntersection(FFDDistanceGridCollisionElement&, FFDDistanceGridCollisionElement&);
bool testIntersection(FFDDistanceGridCollisionElement&, Point&);
template<class Sphere>
bool testIntersection(FFDDistanceGridCollisionElement&, Sphere&);
bool testIntersection(FFDDistanceGridCollisionElement&, Triangle&);
bool testIntersection(Ray&, FFDDistanceGridCollisionElement&);
int computeIntersection(Cube&, Cube&, OutputVector*);
template<class Sphere>
int computeIntersection(Sphere&, Sphere&, OutputVector*);
template<class Sphere>
int computeIntersection(Sphere&, Cube&, OutputVector*);
template<class Sphere>
int computeIntersection(Ray&, Sphere&, OutputVector*);
template<class Sphere>
int computeIntersection(Sphere&, Triangle&, OutputVector*);
//int computeIntersection(Triangle&, Triangle&, OutputVector*);
int computeIntersection(Triangle&, Line&, OutputVector*);
int computeIntersection(Ray&, Triangle&, OutputVector*);
int computeIntersection(Ray&, Tetrahedron&, OutputVector*);
int computeIntersection(Tetrahedron&, Point&, OutputVector*);
int computeIntersection(RigidDistanceGridCollisionElement&, RigidDistanceGridCollisionElement&, OutputVector*);
int computeIntersection(RigidDistanceGridCollisionElement&, Point&, OutputVector*);
template<class Sphere>
int computeIntersection(RigidDistanceGridCollisionElement&, Sphere&, OutputVector*);
int computeIntersection(RigidDistanceGridCollisionElement&, Triangle&, OutputVector*);
int computeIntersection(Ray&, RigidDistanceGridCollisionElement&, OutputVector*);
int computeIntersection(FFDDistanceGridCollisionElement&, RigidDistanceGridCollisionElement&, OutputVector*);
int computeIntersection(FFDDistanceGridCollisionElement&, FFDDistanceGridCollisionElement&, OutputVector*);
int computeIntersection(FFDDistanceGridCollisionElement&, Point&, OutputVector*);
template<class Sphere>
int computeIntersection(FFDDistanceGridCollisionElement&, Sphere&, OutputVector*);
int computeIntersection(FFDDistanceGridCollisionElement&, Triangle&, OutputVector*);
int computeIntersection(Ray&, FFDDistanceGridCollisionElement&, OutputVector*);
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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